gestalt-arch

Decentralized architecture for loss tolerant semi-autonomous robotics

Objective

We demonstrate a decentralized robot control architecture by which a user-controlled interface prescribes an objective to a robot network. This network is then able to complete the task safely without further guidance from the prescriber and is tolerant to losses within the network.

Hardware

• iClebo Kobuki - http://kobuki.yujinrobot.com/about2/
• nRF52832 - https://www.nordicsemi.com/products/nrf52832
• Berkeley Buckler - https://github.com/lab11/buckler

Requirements

gestalt-client & gestalt-solver

• CMake
  • Windows: https://cmake.org/download/
  • Linux: sudo apt-get install cmake
  • Mac: brew install cmake

cor-app

• See Berkeley Buckler build requirements: https://github.com/lab11/buckler#software-requirements

cor-ui

• Download and install Unity 2021.1.15 from https://unity3d.com/get-unity/download/archive

Cloning

The project uses a fork of the Berkeley Buckler repo as a submodule https://github.com/gestalt-arch/buckler-ext

1. Clone as usual

$ git clone https://github.com/gestalt-arch/gestalt-arch.git

2. Pull submodule contents (this may take some time)

$ cd gestalt-arch/firmware
$ git submodule update --init --recursive

3. Optionally, run git submodule update with --progress as it may take some time and runs by default without

$ cd gestalt-arch/firmware
$ git submodule update --init --recursive --progress